Vehicle control device, vehicle control method, and storage medium

ABSTRACT

A vehicle control device includes a detector configured to detect a specific operation performed on a vehicle from an outside of the vehicle, a vicinity situation recognizer configured to recognize a vicinity situation of the vehicle, and a driving controller configured to control steering, and acceleration or deceleration of the vehicle on the basis of a vicinity situation recognized, wherein, when the specific operation is detected by the detector before the vehicle arrives at a boarding area in automated exit processing, the driving controller is configured to bring the vehicle into a stopped state, the boarding area being area in which a user of the vehicle is allowed to get on the vehicle, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing the user to get on the vehicle in the boarding area.

CROSS-REFERENCE TO RELATED APPLICATION

Priority is claimed on Japanese Patent Application No. 2019-032949,filed Feb. 26, 2019, the content of which is incorporated herein byreference.

BACKGROUND Field

The present invention relates to a vehicle control device, a vehiclecontrol method, and a storage medium.

Description of Related Art

In recent years, research on automatic control of vehicles has advanced.A parking management device which creates, if an exit request signalthat requests an exit from parking is received, an exit traveling routefrom a parking position of a vehicle required to exit to a boarding areaand transmits information of the exit traveling route to the vehicle inautomated valet parking using this technology has been disclosed(Japanese Unexamined Patent Application, First Publication No.2018-97536).

SUMMARY

However, the device described above does not consider a case in which auser tries to get on a vehicle in front of a specified area.

The present invention has been made in view of such circumstances, andan object thereof is to provide a vehicle control device, a vehiclecontrol method, and a storage medium which can realize a behavior of avehicle in accordance with a behavior of a user.

(1): A vehicle control device according to one aspect includes adetector configured to detect a specific operation performed on avehicle from an outside of the vehicle, a vicinity situation recognizerconfigured to recognize a vicinity situation of the vehicle, and adriving controller configured to control steering, and acceleration ordeceleration of the vehicle on the basis of the vicinity situationrecognized by the vicinity situation recognizer, wherein, when thespecific operation is detected by the detector before the vehiclearrives at a boarding area in automated exit processing, the drivingcontroller is configured to bring the vehicle into a stopped state, theboarding area being area in which a user of the vehicle is allowed toget on the vehicle, the automated exit processing being process in whichthe vehicle is caused to exit from a parking lot and allowing the userto get on the vehicle in the boarding area.

(2): In the aspect of (1) described above, when the specific operationis detected by the detector, the driving controller is configured tobring the automated exit processing into the stopped state.

(3): In the aspect of (1) or (2) described above, the specific operationis an operation of opening a door of the vehicle or an operation ofunlocking a door lock of the door accompanied by contact of the user tothe door of the vehicle.

(4): In the aspect of any one of (1) to (3) described above, even whenthe vicinity situation recognizer is configured to recognize that theuser has performed a gesture to cause the vehicle to stop in an areabefore arriving at the boarding area, the vehicle is brought into thestopped state.

(5): In the aspect of any one of (1) to (4) described above, the vehiclecontrol device further includes an acquirer configured to acquire arestart signal for causing traveling of the vehicle to restart from aterminal device held by the user, in which the detector detects that theuser has got on the vehicle, and the driving controller is configured tocause the traveling of the vehicle to restart when the acquirer acquiresthe restart signal after the detector does not detect that the user hasgot on the vehicle any longer in a stopped state of the vehicle.

(6): In the aspect of any one of (1) to (4) described above, a boardingdeterminer configured to determine whether a driver or a user differentfrom the driver has got on the vehicle is further included, in which thedetector detects an open or closed state of a door of the vehicle, andthe driving controller is configured to maintain a stopped state of thevehicle even after the detector detects that the door of the vehicle hasbeen closed when the boarding determiner determines that the userdifferent from the driver has got on the vehicle in the stopped state ofthe vehicle.

(7): In the aspect of any one of (1) to (4) described above, a boardingdeterminer configured to determine whether a driver has got on thevehicle is further included, in which the detector detects an open orclosed state of a door of the vehicle, and the driving controller isconfigured to cause traveling of the vehicle to restart when theboarding determiner determines that the driver has got on the vehicleand the detector detects that the door of the vehicle is closed.

(8): In the aspect of (6) described above, a first operator that is anaccelerator pedal, a steering hole, or a brake pedal, and a controllerconfigured to control the vehicle on the basis of an operation performedon the first operator are further included, in which the controller isconfigured to not cause the operation performed on the first operator tobe reflected in the control of the vehicle after the traveling of thevehicle is restarted.

(9): In the aspect of (7) described above, a first operator that is anaccelerator pedal or a steering hole, a second operator that is a brakepedal, and a controller configured to control the vehicle on the basisof the operation performed on the first operator or a second operatorare further included, in which the controller is configured to cause theoperation performed on the first operator to be reflected in the controlof the vehicle after the vehicle has stopped on the basis of theoperation performed on the second operator in the boarding area or afterthe operation is performed on the second operator while the vehicle isstopped in the boarding area.

(10): In the aspect of any one of (1) to (9) described above, thedriving controller is configured to bring the automated exit processinginto a completed state when the detector detects the specific operationafter the vehicle has entered the boarding area in the automated exitprocessing.

(11): In the aspect of (10) described above, the driving controller isconfigured to not cause the automated exit processing to restart when arequest for the automated exit processing is acquired after theautomated exit processing is brought into the completed state, and isconfigured to cause the automated exit processing to restart when therequest for the automated exit processing is acquired after a requestfor automated entrance processing for causing the vehicle to enter aparking lot after the automated exit processing is brought into thecompleted state.

(12): A vehicle control method includes, by a computer, detecting aspecific operation performed on a vehicle from outside the vehicle,recognizing a vicinity situation of the vehicle, controlling steeringand acceleration or deceleration of the vehicle on the basis of therecognized vicinity situation, and bringing the vehicle into a stoppedstate when the specific operation is detected before the vehicle arrivesat a boarding area in automated exit processing, the boarding area beingarea in which a user of the vehicle is allowed to get on the vehicle,the automated exit processing being process in which the vehicle iscaused to exit from a parking lot and allowing the user to get on thevehicle in the boarding area.

(13): A non-transitory computer-readable storage medium that stores acomputer program to be executed by a computer to perform at least:detect a specific operation performed on a vehicle from outside thevehicle, recognize a vicinity situation of the vehicle, control steeringand acceleration or deceleration of the vehicle on the basis of therecognized vicinity situation, and bring the vehicle into a stoppedstate when the specific operation is detected before the vehicle arrivesat a boarding area in automated exit processing the boarding area beingarea in which a user of the vehicle is allowed to get on the vehicle,the automated exit processing being process in which the vehicle iscaused to exit from a parking lot and allowing the user to get on thevehicle in the boarding area.

According to (1) to (4), (12), and (13), it is possible to realize abehavior of the vehicle in accordance with an action of the user.

According to (5), furthermore, when a restart signal is acquired,traveling of the vehicle is restarted, and thus it is possible toimprove convenience for the user.

According to (6), furthermore, when a user different from the driver hasgot on the vehicle, the stopped state of the vehicle is maintained, andthus the safety in the traveling of the vehicle is further improved. Forexample, since traveling is not performed when a user different from thedriver gets on the vehicle and the driver monitoring the vicinitysituation is not present in the vehicle, and thus the safety in thetraveling of the vehicle is further improved.

According to (7), furthermore, when the driver has got on the vehicle,the traveling of the vehicle is restarted, and thus it is possible toimprove the convenience of the user while improving the safety in thetraveling of the vehicle. For example, when the driver who monitors thevicinity situation is present in the vehicle, traveling starts and bothsafety and convenience are achieved.

According to (8), furthermore, since the operation performed on thefirst operator is not reflected in the control of the vehicle after thetraveling of the vehicle is restarted, it is possible to automaticallycontrol the vehicle with a behavior in accordance with the vicinitysituation. For example, since the control of the vehicle according to anoperation of the driver is suppressed before the automated exitprocessing ends, a traffic order between a plurality of vehicles inautomated exit processing performed by the vehicles is furthermaintained.

According to (9), furthermore, when the driver is in a state of beingcapable of controlling the vehicle, the driver can control the vehicle,and thus it is possible to improve the convenience of the driver.

According to (10), when the getting-on/off area has a certain size, theuser can easily cause the vehicle to automatically park in thegetting-on/off area.

According to (11), when a request for automated exit processing is madeafter a request for automated entrance processing has been acquired,control is unified to restart the automated exit processing, and thus aprocessing load of the vehicle control device can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a configuration diagram of a vehicle system using a vehiclecontrol device according to an embodiment.

FIG. 2 is a functional configuration diagram of a first controller and asecond controller.

FIG. 3 is a diagram which schematically shows a scene in which anautonomous parking event is executed.

FIG. 4 is a diagram which shows an example of a configuration of aparking lot management device.

FIG. 5 is a flowchart which shows an example of a flow of processingexecuted by an automated driving control device.

FIG. 6 is a diagram which shows an example of a scene in which automatedexit processing is restarted.

FIG. 7 is a flowchart which shows another example of a flow ofprocessing executed by the automated driving control device.

FIG. 8 is a flowchart which shows an example of a flow of processingexecuted by an automated driving control device of a second embodiment.

FIG. 9 is a diagram which shows another example of the scene in which anautomated exit processing is restarted.

FIG. 10 is a diagram which shows an example of functional constituentscentering on an automated driving control device of a third embodiment.

FIG. 11 is a diagram which shows a part of the functional constituentsof a vehicle system of a fourth embodiment.

FIG. 12 is a diagram which shows functional constituents of a firstcontroller of the fourth embodiment.

FIG. 13 is flowchart which shows an example of a flow of processingexecuted by the vehicle system.

FIG. 14 is a flowchart which shows another example of the flow ofprocessing executed by the vehicle system.

FIG. 15 is a diagram which shows another example of the scene in whichautomated exit processing is restarted.

FIG. 16 is a diagram which shows an example of a hardware configurationof the automated driving control device of the embodiments.

DETAILED DESCRIPTION

Hereinafter, embodiments of a vehicle control device, a vehicle controlmethod, and a storage medium will be described with reference to thedrawings.

[Overall Configuration]

FIG. 1 is a configuration diagram of a vehicle system 1 using a vehiclecontrol device according to an embodiment. A vehicle on which thevehicle system 1 is mounted is, for example, two-wheel, three-wheel, orfour-wheel vehicle, and a driving source thereof is an internalcombustion engine such as a diesel engine or a gasoline engine, anelectric motor, or a combination thereof. The electric motor operatesusing electric power generated by a generator connected to the internalcombustion engine, or electric power discharged from a secondary batteryor a fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device12, a finder 14, an object recognition device 16, a communication device20, a human machine interface (HMI) 30, a vehicle sensor 40, a doorsensor 42, a key communicator 44, a touch sensor 46, a seat sensor 48, anavigation device 50, a map positioning unit (MPU) 60, a drivingoperator 80, an automated driving control device 100, a traveling driveforce output device 200, a brake device 210, and a steering device 220.These devices or apparatuses are connected to each other by a multiplexcommunication line such as a controller area network (CAN) communicatorline, a serial communication line, a wireless communication network, orthe like. The configuration shown in FIG. 1 is merely an example, and apart of the configuration may be omitted or another configuration may beadded.

The camera 10 is, for example, a digital camera using a solid-stateimaging device such as a charge coupled device (CCD) or a complementarymetal oxide semiconductor (CMOS). The camera 10 is attached to anarbitrary position of a vehicle (hereinafter, a host vehicle M) on whichthe vehicle system 1 is mounted. When the front is imaged, the camera 10is attached to an upper part of the front windshield, a back of therearview mirror, or the like. The camera 10 periodically repeats toimage a vicinity of the host vehicle M. The camera 10 may also be astereo camera.

The radar device 12 radiates radio waves such as millimeter waves to thevicinity of the host vehicle M, and detects at least a position (adistance and an orientation) of an object by detecting radio waves(reflected waves) reflected by the object. The radar device 12 isattached to an arbitrary part of the host vehicle M. The radar device 12may detect the position and a speed of the object using a frequencymodulated continuous wave (FM-CW) method.

The finder 14 is a light detection and range (LIDAR). The finder 14radiates light to the vicinity of the host vehicle M and measuresscattered light. The finder 14 detects a distance to the object on thebasis of time from light emission and light reception. The radiatedlight is, for example, pulsed laser light. The finder 14 is attached toan arbitrary part of the host vehicle M.

The object recognition device 16 performs sensor fusion processing on aresult of detection performed by some or all of the camera 10, the radardevice 12, and the finder 14, and recognizes the position, type, speed,and the like of the object. The object recognition device 16 outputs aresult of the recognition to the automated driving control device 100.The object recognition device 16 may output the results of detection bythe camera 10, the radar device 12, and the finder 14 to the automateddriving control device 100 as they are. The object recognition device 16may be omitted from the vehicle system 1.

The communication device 20 uses, for example, a cellular network, aWi-Fi network, a Bluetooth (a registered trademark), a dedicated shortrange communication (DSRC), or the like, and communicates with anothervehicle or a parking lot management device (to be described below)present in the vicinity of the host vehicle M or various types of serverdevices.

The HMI 30 presents various types of information to a user of the hostvehicle M and receives an input operation from the user. The HMI 30includes various display devices, speakers, buzzers, touch panels,switches, keys, and the like.

The vehicle sensor 40 includes a vehicle speed sensor that detects thespeed of the host vehicle M, an acceleration sensor that detects theacceleration, a yaw rate sensor that detects an angular speed around avertical axis, an orientation sensor that detects a direction of thehost vehicle M.

The door sensor 42 detects whether a door of the host vehicle M is openor closed. The door sensor 42 outputs, for example, an ON signal to theautomated driving control device 100 when the door is open, and outputsan OFF signal to the automated driving control device 100 when the dooris closed. The door sensor 42 may detect which of a plurality of doorsof the host vehicle M is open or closed.

The key communicator 44 communicates with a communicator of a terminaldevice (for example, a portable device or a smart key such as an FOBkey) held by the user. For example, the key communicator 44 transmits arequest signal at predetermined intervals. When the terminal device ispresent within a transmission range of the request signal, the terminaldevice receives the request signal and transmits a response signal tothe key communicator 44 in response to the reception.

The touch sensor 46 is provided near a door knob or a door knob outsidethe host vehicle M. The touch sensor detects, for example, that the doorknob or a predetermined position near the door knob is touched by aperson such as the user. For example, if a person touches the door knob,the touch sensor 46 detects that the door knob is touched on the basisof a change in capacitance caused by the touch.

The seat sensor 48 is provided, for example, at least in a driver's seatamong seats of the vehicle. The seat sensor 48 includes one or morepressure detecting devices, and detects whether the user is sitting onthe driver's seat on the basis of a result of detection by the pressuredetecting device described above. In the present embodiment, it isassumed that the seat sensor 48 is provided in a passenger seat and arear seat in addition to the driver's seat.

The navigation device 50 includes, for example, a global navigationsatellite system (GNSS) receiver 51, a navigation HMI 52, and a routedeterminer 53. The navigation device 50 holds first map information 54in a storage device such as a hard disk drive (HDD) or a flash memory.The GNSS receiver 51 identifies the position of the host vehicle M onthe basis of a signal received from a GNSS satellite. The position ofthe host vehicle M may be identified or supplemented by an inertialnavigation system (INS) using an output of the vehicle sensor 40. Thenavigation HMI 52 includes a display device, a speaker, a touch panel, akey, and the like. The navigation HMI 52 may be partially or entirelyshared with the HMI 30 described above. The route determiner 53determines, for example, a route (hereinafter, a route on a map) fromthe position (or an arbitrary input position) of the host vehicle Midentified by the GNSS receiver 51 to a destination input from the userusing the navigation HMI 52 with reference to the first map information54. The first map information 54 is, for example, information in which aroad shape is expressed by a link indicating a road and a node connectedby the link. The first map information 54 may include curvature of aroad, point of interest (POI) information, and the like. The route on amap is output to the MPU 60. The navigation device 50 may perform routeguidance using the navigation HMI 52 on the basis of the route on a map.The navigation device 50 may be realized by, for example, a function ofa terminal device such as a smart phone or a tablet terminal owned bythe user. The navigation device 50 may transmit a current position and adestination to a navigation server via the communication device 20 andacquire a route equivalent to the route on a map from the navigationserver.

The MPU 60 includes, for example, a recommended lane determiner 61, andholds second map information 62 in the storage device such as an HDD ora flash memory. The recommended lane determiner 61 divides the route ona map provided from the navigation device 50 into a plurality of blocks(for example, divides every 100 [m] in a vehicle traveling direction),and determines a recommended lane for each block with reference to thesecond map information 62. The recommended lane determiner 61 determineswhich numbered lane to travel from the left. When there is a branchpoint in the route on a map, the recommended lane determiner 61determines a recommended lane such that the host vehicle M travels in areasonable route for traveling to a branch destination.

The second map information 62 is map information with higher accuracythan the first map information 54. The second map information 62includes, for example, information on a center of a lane or informationon a boundary of the lane. The second map information 62 may includeroad information, traffic regulation information, address information(addresses/postal codes), facility information, telephone numberinformation, and the like. The second map information 62 may be updatedat any time by the communication device 20 communicating with anotherdevice.

The driving operator 80 includes, for example, an accelerator pedal, abrake pedal, a shift lever, a steering wheel, a modified steer, ajoystick, and other operators. A sensor that detects an operation amountor a presence or absence of an operation is attached to the drivingoperator 80, and this detection result is output to the automateddriving control device 100 or some or all of the traveling drive forceoutput device 200, the brake device 210, and the steering device 220.

The automated driving control device 100 includes, for example, a firstcontroller 120, a second controller 160, and an information processor170. Each of these functional parts is realized, for example, by ahardware processor such as a central processing unit (CPU) executing aprogram (software). Some or all of these components may be realized byhardware (a circuit; including circuitry) such as a large scaleintegration (LSI), an application specific integrated circuit (ASIC), afield-programmable gate array (FPGA), and a graphics processing unit(GPU), and may also be realized by a cooperation of software andhardware. The program may be stored in advance in a storage device (astorage device including a non-transitory storage medium) such as an HDDor a flash memory of the automated driving control device 100, or may bestored in a detachable storage medium such as a DVD or a CD-ROM andinstalled in the HDD or the flash memory of the automated drivingcontrol device 100 by the storage medium (the non-transitory storagemedium) being mounted on a drive device.

FIG. 2 is a functional configuration diagram of the first controller 120and the second controller 160. The first controller 120 includes, forexample, a recognizer 130 and an action plan generator 140. The firstcontroller 120 realizes, for example, a function based on artificialintelligence (AI) and a function based on a model given in advance inparallel. For example, a function of “recognizing an intersection” maybe realized by executing a recognition of an intersection by deeplearning or the like and a recognition based on conditions (includingpattern matching signals, road markings, and the like) given in advancein parallel and comprehensively evaluating the both by scoring them. Asa result, a reliability of automated driving is guaranteed. Therecognizer 130 is an example of a vicinity situation recognizer.”

The recognizer 130 recognizes situations such as the position, speed andacceleration of the object in the vicinity of the host vehicle M on thebasis of information input from the camera 10, the radar device 12, andthe finder 14 via the object recognition device 16. The position of theobject is, for example, recognized as a position on absolute coordinateshaving the origin at a representative point (a center of gravity, acenter of a drive axis, or the like) of the host vehicle M, and is usedfor control. The position of the object may be represented by arepresentative point such as a center of gravity or a corner of theobject, or may be represented by an expressed area. A “state” of theobject may include the acceleration or jerk of the object, or an “actionstate” (for example, whether a lane is changed or is intended to bechanged).

The recognizer 130 recognizes, for example, a lane (traveling lane) inwhich the host vehicle M is traveling. For example, the recognizer 130recognizes a traveling lane by comparing a pattern (for example, anarray of solid lines and dashed lines) of a road section line obtainedfrom the second map information 62 with a pattern of a road section linein the vicinity of the host vehicle M recognized from an image capturedby the camera 10. The recognizer 130 may recognize a traveling lane byrecognizing not only a road section line but also a traveling roadboundary (road boundary) including road section lines, road shoulders,curbs, median strips, guardrails, and the like. In this recognition, theposition of the host vehicle M acquired from the navigation device 50and a result of processing performed by the INS may be added. Therecognizer 130 recognizes temporary stop lines, obstacles, red light,tollgates, or other road events.

When a traveling lane is recognized, the recognizer 130 recognizes theposition and posture of the host vehicle M with respect to the travelinglane. The recognizer 130 may recognize, for example, a deviation of areference point of the host vehicle M from a lane center and an angleformed with respect to a line connecting the lane centers in a travelingdirection of the host vehicle M as the relative position and posture ofthe host vehicle M with respect to the traveling lane. Instead, therecognizer 130 may recognize a position and the like of the referencepoint of the host vehicle M with respect to either side end (a roadsection line or a road boundary) of the traveling lane as the relativeposition of the host vehicle M with respect to the traveling lane.

The recognizer 130 includes, for example, a parking space recognizer 132and a boarding determiner 134 to be described below, which are startedin an autonomous parking event. Details of functions of the parkingspace recognizer 132 will be described below.

The boarding determiner 134 determines whether the user is sitting on adriver's seat on the basis of a result of detection by the seat sensor48. The boarding determiner 134 determines whether the user is sittingon a seat other than the driver's seat on the basis of a result of thedetection by the seat sensor 48. When the user is sitting on thedriver's seat or other seats, it means that the user is in the hostvehicle M. When the user is sitting on the driver's seat, it means thedriver is in the host vehicle M, and, when the user is not sitting onthe driver's seat, it means that the driver is not in the host vehicleM.

In principle, the action plan generator 140 travels on a recommendedlane determined by the recommended lane determiner 61, and furthermore,generates a target trajectory in which the host vehicle M willautomatically (without depending on an operation of the driver) travelto be able to cope with the vicinity situation of the host vehicle M.The target trajectory includes, for example, a speed element. Forexample, the target trajectory is expressed as a sequence of points(orbit points) to be reached by the host vehicle M. The orbit points arepoints to be reached by the host vehicle M for each predeterminedtraveling distance (for example, about several [m]) in a road distance,and separately from this, a target speed and a target acceleration foreach predetermined sampling time (for example, about 0 commas [sec]) aregenerated as a part of the target trajectory. The orbit points may bepositions to be reached by the host vehicle M at corresponding samplingtimes for each corresponding sampling time. In this case, theinformation on the target speed and the target acceleration is expressedby an interval between the orbit points.

The action plan generator 140 may set an automated driving event ingeneration of a target trajectory. Examples of the automated drivingevent include a constant-speed traveling event, a low-speed followingtraveling event, a lane change event, a branching event, a mergingevent, a takeover event, an autonomous parking event in which unmannedtraveling and parking are performed in valet parking and the like. Theaction plan generator 140 generates a target trajectory in accordancewith a started event. The action plan generator 140 includes anautonomous parking controller 142 which is started when an autonomousparking event is executed. Details of functions of the autonomousparking controller 142 will be described below.

The second controller 160 controls the traveling drive force outputdevice 200, the brake device 210, and the steering device 220 such thatthe host vehicle M passes through the target trajectory generated by theaction plan generator 140 at a scheduled time.

Returning to FIG. 2, the second controller 160 includes, for example, anacquirer 162, a speed controller 164, and a steering controller 166. Theacquirer 162 acquires information on the target trajectory (trajectorypoints) generated by the action plan generator 140 and stores it in amemory (not shown). The speed controller 164 controls the travelingdrive force output device 200 or the brake device 210 on the basis of aspeed element associated with the target trajectory stored in thememory. The steering controller 166 controls the steering device 220 inaccordance with a bending of the target trajectory stored in the memory.Processing of the speed controller 164 and the steering controller 166is realized by, for example, a combination of feed forward control andfeedback control. As an example, the steering controller 166 executes acombination of the feed forward control in accordance with curvature ofa road in front of the host vehicle M and the feedback control based ona deviation from the target trajectory.

The traveling drive force output device 200 outputs a traveling driveforce (torque) for a traveling of a vehicle to drive wheels. Thetraveling drive force output device 200 includes, for example, acombination of an internal combustion engine, an electric motor, atransmission, and the like, and an electronic control unit (ECU) thatcontrols these. The ECU controls the constituents described aboveaccording to information input from the second controller 160 orinformation input from the driving operator 80.

The brake device 210 includes, for example, a brake caliper, a cylinderthat transmits a hydraulic pressure to the brake caliper, an electricmotor that generates a hydraulic pressure to the cylinder, and a brakeECU. The brake ECU controls the electric motor according to theinformation input from the second controller 160 or the informationinput from the driving operator 80 such that a brake torque associatedwith a braking operation is output to each wheel. The brake device 210may include, as a backup, a mechanism that transmits the hydraulicpressure generated by an operation of the brake pedal included in thedriving operator 80 to the cylinder via a master cylinder. The brakedevice 210 is not limited to the configuration described above, and maybe an electronically controlled hydraulic brake device that controls anactuator according to the information input from the second controller160 and transmits the hydraulic pressure of the master cylinder to thecylinder.

The steering device 220 includes, for example, a steering ECU and anelectric motor. The electric motor changes a direction of the steeringwheel by, for example, applying a force to a rack and pinion mechanism.The steering ECU drives the electric motor and changes the direction ofthe steering wheel according to the information input from the secondcontroller 160 or the information input from the driving operator 80.

[Autonomous Parking Event-at the Time of Entrance]

The autonomous parking controller 142 causes the host vehicle M to parkin a parking space on the basis of, for example, information acquiredfrom the parking lot management device 400 by the communication device20. FIG. 3 is a diagram which schematically shows a scene in which anautonomous parking event is executed. In a route from a road Rd to avisiting destination facility, gates 300-in and 300-out are provided.The host vehicle M proceeds to the stop area 310 by passing through thegate 300-in by manual driving or automated driving. The stop area 310faces a getting-on/off area 320 connected to the visiting destinationfacility. The getting-on/off area 320 is provided with an eave foravoiding rain and snow. The stop area 310 is an example of the “boardingarea.”

The host vehicle M starts an autonomous parking event in which unmanned(or manned) automated driving and moving to a parking space PS in theparking lot PA are performed after the user is dropped at the stop area310. A start trigger of the autonomous parking event may be, forexample, certain operations performed by the user, or may be a receptionof a predetermined signal wirelessly from the parking lot managementdevice 400. The autonomous parking controller 142 controls thecommunication device 20 such that it transmits a parking request to theparking lot management device 400 when the autonomous parking event isstarted. Then, the host vehicle M moves from the stop area 310 to theparking lot PA according to a guidance of the parking lot managementdevice 400 or while performing sensing by itself.

FIG. 4 is a diagram which shows an example of a configuration of theparking lot management device 400. The parking lot management device 400includes, for example, a communicator 410, a controller 420, and astorage 430. The storage 430 stores parking lot map information 432 andinformation on a parking space state table 434 and the like.

The communicator 410 wirelessly communicates with the host vehicle M andother vehicles. The controller 420 guides a vehicle to the parking spacePS on the basis of information acquired by the communicator 410 andinformation stored in the storage 430. The parking lot map information432 is information in which a structure of the parking lot PA isgeometrically represented. The parking lot map information 432 includescoordinates for each parking space PS. The parking space state table 434is a table in which, for example, information indicating an empty stateor information indicating a full (parking) state is associated with aparking space ID that is identification information of the parking spacePS. When a parking space is in the full state, a vehicle ID that isidentification information of a parking vehicle is associated with theparking space ID.

If the communicator 410 receives a parking request from a vehicle, thecontroller 420 extracts a parking space PS which is in the empty statewith reference to the parking space state table 434, acquires a positionof the extracted parking space PS from the parking lot map information432, and transmits a preferred route to the position of the acquiredparking space PS to the vehicle using the communicator 410. Thecontroller 420 instructs a specific vehicle to stop or slow down whennecessary on the basis of a positional relationship of a plurality ofvehicles such that vehicles do not proceed to the same position at thesame time.

In the vehicle that has received the route (hereinafter, referred to asthe host vehicle M), the autonomous parking controller 142 generates atarget trajectory based on the route. If a target parking space PS isapproached, the parking space recognizer 132 recognizes a parking frameline or the like that partitions off the parking space PS, andrecognizes a detailed position of the parking space PS to provide it tothe autonomous parking controller 142. The autonomous parking controller142 corrects the target trajectory after receiving this and causes thehost vehicle M to park in the parking space PS.

[Autonomous Parking Event-at the Time of Exit]

The autonomous parking controller 142 and the communication device 20maintain an operating state even while the host vehicle M parks. Theautonomous parking controller 142 causes a system of the host vehicle Mto start and causes the host vehicle M to move to the stop area 310, forexample, when the communication device 20 receives a pick-up requestfrom a terminal device of the user. In the following description, thisprocessing may be referred to as “automated exit processing.” At thistime, the autonomous parking controller 142 controls the communicationdevice 20 such that it transmits a departure request to the parking lotmanagement device 400. The controller 420 of the parking lot managementdevice 400 instructs a specific vehicle to stop or slow down whennecessary on the basis of the positional relationship of a plurality ofvehicles such that the vehicles do not proceed to the same position atthe same time. If the host vehicle M is moved to the stop area 310 toallow the user to board, the autonomous parking controller 142 stopsoperating, and thereafter, manual driving or automated driving performedby another functional part is started.

The autonomous parking controller 142 is not limited to the descriptionabove, and may find a parking space in the empty state by itself on thebasis of a result of detection performed by the camera 10, the radardevice 12, the finder 14, or the object recognition device 16independently of communication, and cause the host vehicle M to park inthe found parking space.

The autonomous parking controller 142 includes, for example, a signalacquirer 144. The signal acquirer 144 acquires a restart signal from theterminal device held by the user after the autonomous parking event atthe time of an exit is brought into the stopped state. The restartsignal is signal in which for causing the autonomous parking event atthe time of an exit in the stopped state to restart. The details will bedescribed below. In the following description, the autonomous parkingevent at the time of an exit may be referred to as “automated exitprocessing” in some cases.

When a specific operation is performed on the host vehicle M fromoutside the host vehicle M, the information processor 170 detects thatthe specific operation has been performed. The specific operation is anoperation of opening the door of the host vehicle M or an operation ofunlocking the door lock of the door accompanied by contact of the userwith the door of the host vehicle M. A combination of the informationprocessor 170 and the door sensor 42 or a combination of the informationprocessor 170, the key communicator 44, and the touch sensor 46 is anexample of the “detector.”

The information processor 170 acquires a result of detection performedby the door sensor 42, and determines whether the door of the hostvehicle M is open or closed on the basis of the acquired result ofdetection. That is, when it is determined that the door of the hostvehicle M is open, the information processor 170 determines that aspecific operation has been performed.

The information processor 170 acquires a result of detection performedby the touch sensor 46, and determines whether a person has touched thedoor knob or a predetermined position near the door knob of the hostvehicle M on the basis of the acquired result of detection. Theinformation processor 170 acquires a result of detection performed bythe seat sensor 48, and determines whether the user is sitting on thedriver's seat, the passenger seat, or the rear seat on the basis of theresult of detection.

The information processor 170 acquires identification information of theterminal device acquired by the key communicator 44 communicating withthe terminal device. The information processor 170 determines whetherthe identification information acquired by the key communicator 44coincides with identification information stored in the storage device(not shown). The information processor 170 performs control such thatthe door lock is changed from a locked state to an unlocked state whenit is determined that the two pieces of identification informationdescribed above coincide with each other and a person touches the doorknob. An operation of the user changing to this unlocked state is anexample of the “specific operation.” For example, the informationprocessor 170 transmits an instruction signal to a lock controller (notshown) that controls the door lock so as to set the door lock to beopen. The lock controller performs control such that the door lock isset from the locked state to the unlocked state when the instructionsignal described above is acquired.

[Processing of Stopping Automated Exit Processing]

FIG. 5 is a flowchart which shows an example of a flow of processingexecuted by the automated driving control device 100. The presentprocessing is processing executed when the host vehicle M parks in theparking lot PA.

First, the autonomous parking controller 142 determines whether apick-up request has been acquired (step S100). When a pick-up requesthas been acquired, the autonomous parking controller 142 startstraveling towards the getting-on/off area 320 from the parking lot PA(step S102). That is, the automated exit processing is started.

Next, the information processor 170 determines whether the specificoperation has been performed (step S104). When it is determined that thespecific operation has not been performed, the autonomous parkingcontroller 142 continues the automated exit processing (step S106).Next, the autonomous parking controller 142 determines whether the hostvehicle M has reached the getting-on/off area 320 (the stop area 310)(step S108). When it has not reached the getting-on/off area 320, theprocedure returns to the processing of step S102. When it has reachedthe getting-on/off area 320, processing of one routine of the presentflowchart ends.

When it is determined that the specific operation has been performed,the autonomous parking controller 142 stops the automated exitprocessing (step S110). As a result, the host vehicle M stops travelingof the host vehicle M before arriving at the getting-on/off area 320.When the specific operation has been performed, the autonomous parkingcontroller 142 may cause the host vehicle M to slow down and then stop.The information processor 170 determines whether the user is not in thehost vehicle M (step S112). When it is determined that the user is notin the host vehicle M, the information processor 170 determines whetherthe door of the host vehicle M is closed (step S114).

When the door of the host vehicle M is closed (for example, when all thedoors of the host vehicle M are closed), the autonomous parkingcontroller 142 determines whether a restart signal has been acquired(step S116). When the restart signal has been acquired, the autonomousparking controller 142 causes the stopped automated exit processing torestart (step S118), and proceeds to the processing of step S108. Thatis, the autonomous parking controller 142 causes the automated exitprocessing to restart when the restart signal is acquired after it is nolonger detected that the user has got on the host vehicle M in a stoppedstate of the automated exit processing. If the automated exit processingis restarted, for example, the autonomous parking controller 142 causesa traveling of the host vehicle M to restart. When a negativedetermination result is obtained in the processing of steps S112, S114,and S116, the procedure returns to the processing of step S110. As aresult, processing of one routine of the present flowchart ends.

Some of the processing of the present flowchart may be omitted, or anorder of each piece of processing may be changed. When the recognizer130 has recognized that the user has performed a gesture to stop thehost vehicle M in an area (an area different from the stop area 310)before arriving at the getting-on/off area 320, the automated exitprocessing (the traveling of the vehicle) is set to be in the stoppedstate. For example, “processing of determining whether the user hasperformed a gesture to stop the host vehicle M in the area beforearriving at the getting-on/off area 320” may be performed instead of“processing of determining whether the specific operation has beenperformed” in the processing of step S104.

FIG. 6 is a diagram which shows an example of a scene in which theautomated exit processing is restarted. For example, when the user hasperformed a specific operation, the automated exit processing is in thestopped state at a time T. The user stops the specific operation andtransmits a restart signal to the automated driving control device 100using the holding terminal device at a time T+1. At a time T+2, theautomated driving control device 100, if the restart signal is acquired,causes the automated exit processing to restart and starts travelingtoward the getting-on/off area 320. As a result, the user can get on thehost vehicle M in the getting-on/off area 320.

Here, as shown in FIG. 6, when another vehicle is stopped at the stoparea 310 of the getting-on/off area 320 and the stop area 310 iscongested, the user waiting in the getting-on/off area 320 may approachthe host vehicle M before reaching the getting-on/off area 320 andperform the specific operation. In a vehicle of a comparative example,control of a case in which the specific operation described above isperformed has not been considered. For this reason, the vehicle of thecomparative example cannot realize a behavior in accordance with theaction of the user.

On the other hand, the automated driving control device 100 of thepresent embodiment can restart the automated exit processing when thespecific operation has been performed and the user has acquired arestart signal while the user is not in the host vehicle M. As describedabove, the automated driving control device 100 can realize the behaviorof the vehicle in accordance with the action of the user.

In the example of FIG. 5 described above, when the host vehicle M hasreached the getting-on/off area 320, it is described that the processingends, but, when the host vehicle M has arrived at the getting-on/offarea 320 (has entered the getting-on/off area 320), the processing ofthe flowchart shown in FIG. 7 may be performed.

FIG. 7 is a flowchart which shows another example of a flow ofprocessing executed by the automated driving control device 100. Sinceprocessing of step S100 to step S118 in FIG. 7 is the same as theprocessing with the same step numbers in FIG. 5, these types ofprocessing will not be listed in FIG. 7 and descriptions thereof will beomitted.

In FIG. 7, the automated driving control device 100 sets the automatedexit processing to be in a completed state when the specific operationis detected after the host vehicle M has entered the stop area 310, anddoes not cause the automated exit processing to restart when a requestfor the automated exit processing is acquired after the automated exitprocessing is in the completed state, but causes the automated exitprocessing to restart when the request for the automated exit processingis acquired after a request for automated entrance processing forcausing the vehicle to enter a parking lot in an unmanned manner isacquired after the automated exit processing is in the completed state.

When the vehicle has reached the getting-on/off area 320, theinformation processor 170 determines whether the specific operation hasbeen performed (step S120). When the specific operation has not beenperformed, the information processor 170 determines whether the hostvehicle M has stopped at a predetermined position (step S122). Thepredetermined position is a predetermined position in the stop area 310,and is a position at which the automated driving control device 100 hasdetermined to pick up the user on the basis of the vicinity situation.When the host vehicle M stops at the predetermined position, processingof one routine of the present flowchart ends. When the host vehicle Mdoes not stop at the predetermined position, the automated drivingcontrol device 100 continues control to cause the host vehicle M toproceed toward the predetermined position (step S124), and returns tothe processing of step S120.

When the specific operation is performed in step S120 (for example, whenthe specific operation is performed before the vehicle stops at thepredetermined position), the host vehicle M stops, and furthermore theinformation processor 170 sets the automated exit processing to be inthe completed state (step S126). For example, when the specificoperation is performed, the information processor 170 writes anautomated exit completion flag indicating that the automated exitprocessing has been completed in the storage device. As a result, evenif the host vehicle M receives the pick-up request (the request for theautomated exit processing), the host vehicle M does not execute theautomated exit processing.

Next, the information processor 170 determines whether a parking request(a request for automated entrance processing) has been received (stepS128). When the parking request is received, the information processor170 controls the host vehicle M such that the host vehicle can receivethe pick-up request (step S130). For example, the information processor170 deletes the written automated exit completion flag and controls thehost vehicle M such that the host vehicle can receive the pick-uprequest. The information processor 170 does not perform the automatedexit processing when the pick-up request is acquired while it cannotreceive the pick-up request, and performs the automated exit processingwhen the pick-up request is acquired while it can receive the pick-uprequest.

For example, it is assumed that the automated exit processing iscompleted by the specific operation and the vehicle has parked in thestop area 310. In this state, if the user transmits a parking request tothe host vehicle M and transmits a pick-up request to the host vehicle Mafter having completed his requirement, the host vehicle M automaticallymoves near the user and picks-up the user.

According to the processing described above, when the stop area 310 hasa certain size, the user can easily cause the host vehicle M to performautonomous parking in the stop area 310. When a pick-up request is madeafter a parking request is acquired, control is unified to restart theautomated exit processing, and thus a processing load of the vehiclesystem 1 is reduced.

According to the first embodiment described above, the automated drivingcontrol device 100 sets the automated exit processing to be in thestopped state when the specific operation is detected by the informationprocessor 170 before the host vehicle M arrives at the getting-on/offarea in the automated exit processing for causing the host vehicle M toexit from the parking lot in the unmanned manner and allowing the userto get on the vehicle in the getting-on/off area where the user of thehost vehicle M is allowed to get on. As a result, it is possible torealize the behavior of the vehicle in accordance with the action of theuser.

According to the first embodiment described above, the automated drivingcontrol device 100 causes the automated exit processing to restart whena restart signal is acquired by the autonomous parking controller 142 ina case in which the information processor 170 does not detect that theuser has got on the host vehicle M while the automated exit processingis in the stopped state. As a result, the vehicle starts travelingtoward the getting-on/off area 320, and reaches the getting-on/off area320. Then, the user can get on the host vehicle M. As described above,the automated driving control device 100 can realize the behavior f ofthe vehicle in accordance with the action of the user.

Second Embodiment

Hereinafter, a second embodiment will be described. In the firstembodiment, when the specific operation is performed, the automateddriving control device 100 has caused the automated exit processing torestart when a restart signal is acquired while the user is not in thehost vehicle M. In the second embodiment, the automated driving controldevice 100 restarts the automated exit processing when the driver hasgot on the vehicle. In the following description, a difference from thefirst embodiment will be mainly described.

[Processing of Stopping Automated Exit Processing]

FIG. 8 is a flowchart which shows an example of a flow of processingexecuted by the automated driving control device 100 of the secondembodiment. A difference from the flowchart of FIG. 5 will be mainlydescribed. In the flowchart of FIG. 7, the processing of step S113 isperformed instead of the processing of step S112 in the flowchart ofFIG. 5. In the flowchart of FIG. 8, the processing of step S116 in theflowchart of FIG. 5 will be omitted.

When it is determined that the specific operation has been performed instep S104, the autonomous parking controller 142 stops the automatedexit processing (step S110). Next, the information processor 170determines whether the driver has got on the host vehicle M (step S113).When it is determined that the driver has got on the host vehicle M, theinformation processor 170 determines whether the door of the hostvehicle M is closed (step S114).

When the door of the host vehicle M is closed, the autonomous parkingcontroller 142 causes the stopped automated exit processing to restart(step S118), and proceeds to the processing of step S108. When anegative determination result is obtained in the processing of step S113or S116, the procedure returns to the processing of step S110. As aresult, processing of one routine of the present flowchart ends. Some ofthe processing of the present flowchart may be omitted and an order ofeach processing may be changed.

In the present flowchart, it is assumed that processing of determiningwhether the autonomous parking controller 142 has acquired a restartsignal is omitted between step S114 and step S118, but the processingmay be executed without being omitted. The autonomous parking controller142 may determine whether a predetermined signal is output and causesthe automated exit processing to restart when the predetermined signalis output between step S114 and step S118. The predetermined signal is asignal output by a predetermined operation performed on the HMI 30 inthe vehicle compartment by the driver. In the processing of step S113,it may be determined whether a user different from the driver has got onthe vehicle.

FIG. 9 is a diagram which shows another example of the scene in which anautomated exit processing is restarted. The description of FIG. 9 isbased on a premise that the automated exit processing is performed whilethe stop area 310 is congested in the same manner as FIG. 6, butillustration of another vehicle stopping in the getting-on/off area 320will be omitted for simplification. For example, when the user hasperformed the specific operation at the time T, the automated exitprocessing is in the stopped state. If the driver gets on the hostvehicle M at the time T+1, the host vehicle M restarts the automatedexit processing after a predetermined time after the user gets on. Thatis, the host vehicle M starts traveling towards the getting-on/off area320. The automated driving control device 100 stops at the stop area 310of the getting-on/off area 320 due to the restarted automated exitprocessing at the time T+2. As a result, another user different from thedriver can get on the host vehicle M in the getting-on/off area 320.

According to the second embodiment described above, the automateddriving control device 100 maintains the stopped state of the automatedexit processing even though a user different from the driver gets on thevehicle and the door of the host vehicle M is closed in the stoppedstate of the automated exit processing. The automated driving controldevice 100 causes the automated exit processing to restart when thedriver gets on the host vehicle M and the door of the host vehicle M isclosed in the stopped state of the automated exit processing. As aresult, the driver or the user can get on the host vehicle M at aposition associated with the type of user. As described above, theautomated driving control device 100 can realize the behavior of thevehicle in accordance with the action of the user.

Third Embodiment

Hereinafter, a third embodiment will be described. In the secondembodiment, the automated driving control device 100 determines whetherthe driver is in the vehicle on the basis of a result of detection bythe seat sensor 48. In the third embodiment, the automated drivingcontrol device 100 determines whether the driver is in the vehicle onthe basis of an image in which the user sitting on the driver's seat iscaptured. In the following description, a difference from the secondembodiment will be mainly described.

FIG. 10 is a diagram which shows an example of functional constituentscentering on an automated driving control device 100A of the thirdembodiment. In FIG. 10, functional constituents other than the automateddriving control device 100 shown in FIG. 1 of the first embodiment willbe omitted. In the third embodiment, a vehicle system 1A includes anon-vehicle camera 49. In the third embodiment, for example, the seatsensor 48 will be omitted.

The on-vehicle camera 49 is, for example, a digital camera using asolid-state imaging device such as a CCD or a CMOS. The on-vehiclecamera 49 is a camera for imaging a user sitting on the driver's seat ora user in a vehicle compartment. The on-vehicle camera 49 is attached toan arbitrary part at which the user sitting on the driver's seat or theuser in the vehicle compartment can be imaged. The on-vehicle camera 49images an interior of the vehicle compartment of the host vehicle M at apredetermined timing or in a periodically repeated manner. Theon-vehicle camera 49 may also be a stereo camera.

The automated driving control device 100A further includes a storage 190in addition to the functional constituents of the automated drivingcontrol device 100 of the first embodiment. The storage 190 stores userinformation 192. The user information 192 includes a feature amountextracted from an image in which an image of a driver set in advance iscaptured.

The boarding determiner 134 acquires an image acquired by the on-vehiclecamera 49 (an image in which an image of the user sitting on thedriver's seat is captured), and extracts a feature amount from theacquired image. The boarding determiner 134 determines whether a featureamount matching the extracted feature amount is included in the userinformation 192. When it is determined that the feature amount matchingthe extracted feature amount is included in the user information 192,the boarding determiner 134 determines that the driver has got on thehost vehicle M.

According to the third embodiment described above, the same effects asin the second embodiment are achieved.

Fourth Embodiment

Hereinafter, a fourth embodiment will be described. In the fourthembodiment, the automated driving control device 100 controls thetraveling drive force output device 200 or the steering device 220without depending on an operation performed on a driving operator by thedriver when a predetermined condition is not satisfied, and controls thetraveling drive force output device 200 or the steering device 220 onthe basis of an operation performed on the driving operator by thedriver when the predetermined condition is satisfied.

The predetermined condition is, for example, that the brake pedal isoperated to stop the host vehicle M at the stop area 310 of thegetting-on/off area 320 or that the brake pedal is operated while thehost vehicle M is stopped at the stop area 310 of the getting-on/offarea 320. In the following description, a difference from the firstembodiment is mainly described. When the traveling drive force outputdevice 200, the brake device 210, and the steering device 220 are notdistinguished, they may be simply referred to as “target devices.”

FIG. 11 is a diagram which shows some of the functional constituents ofthe vehicle system 1B of the fourth embodiment. In the example of FIG.11, descriptions of constituents other than the automated drivingcontrol device 100, the traveling drive force output device 200, thebrake device 210, and the steering device 220 will be omitted. Thevehicle system 1B includes a driving operator 80A instead of the drivingoperator 80.

The driving operator 80A includes, for example, an accelerator pedal 82,a steering wheel 84, and a brake pedal 86. The accelerator pedal, thesteering wheel, or the brake pedal is an example of the “firstoperator.” The brake pedal 86 is an example of the “second operator.”

FIG. 12 is a diagram which shows functional constituents of the firstcontroller 120 of the fourth embodiment. A difference from the firstcontroller 120 of the first embodiment will be described. The autonomousparking controller 142 included in the first controller 120 of thefourth embodiment further includes an override controller 146 inaddition to the signal acquirer 144.

The override controller 146 controls the brake device 210 according toinformation input on the basis of an operation of the brake pedal 86regardless of whether the predetermined condition is satisfied when theautomated exit processing is performed. The override controller 146controls the brake device 210 according to the information input on thebasis of the operation of the brake pedal 86 in the stop area 310 whenthe automated exit processing is performed.

When the automated exit processing is performed, the override controller146 controls the target devices according to information input on thebasis of an operation of the accelerator pedal 82 or the steering wheel84 when the predetermined condition is satisfied.

When the automated exit processing is performed, the override controller146 instructs the traveling drive force output device 200 and thesteering device 220 to execute control based on information output tothe second controller 160 when the predetermined condition is notsatisfied. As a result, an operation received by the accelerator pedal82 or the steering wheel 84 is not reflected in control of the travelingdrive force output device 200 and the steering device 220.

[Flowchart]

FIG. 13 is a flowchart which shows an example of a flow of processingexecuted by the vehicle system 1B. The present processing is, forexample, processing executed after the automated exit processing isstopped.

First, the autonomous parking controller 142 determines whether arestart signal has been acquired (step S200). When the restart signalhas been acquired, the override controller 146 determines whether thebrake pedal 86 has been operated (step S202). When the brake pedal 86has not been operated, processing of one routine of the presentflowchart ends.

When the brake pedal 86 is operated, the override controller 146 causesthe brake device 210 to perform control in accordance with the operationof the brake pedal 86 (step S204). As a result, the brake device 210controls a braking force on the basis of the operation of the brakepedal 86.

Next, the override controller 146 determines whether the host vehicle Mhas stopped on the basis of the operation of the brake pedal 86 (stepS206). When the host vehicle M has not stopped, the processing of oneroutine of the present flowchart ends. When the host vehicle M hasstopped, the override controller 146 sets a valid flag (step S208). As aresult, the processing of one routine of the present flowchart ends.

FIG. 14 is a flowchart which shows another example of the flow ofprocessing executed by the vehicle system 1B. The present processing is,for example, processing executed after the automated exit processing isstopped.

First, the autonomous parking controller 142 determines whether arestart signal is acquired (step S300). When the restart signal isacquired, the override controller 146 determines whether the acceleratorpedal 82, the steering wheel 84, or the brake pedal is operated (stepS302). When the accelerator pedal 82, the steering wheel 84, or thebrake pedal is operated, the override controller 146 determines whetherthe valid flag is set (step S304). The valid flag is processing set inthe processing of step S208 of FIG. 13.

When the valid flag is set, the override controller 146 causes thetraveling drive force output device 200, the steering device 220, or thebrake device 210 to execute control in accordance with the operation onthe accelerator pedal 82, the steering wheel 84, or the brake pedal(step S306). When the valid flag is not set, the override controller 146does not cause the traveling drive force output device 200 or thesteering device 220 to execute control in accordance with the operationon the accelerator pedal 82 or the steering wheel 84 (step S308). As aresult, the processing of the present flowchart ends.

FIG. 15 is a diagram which shows another example of the scene in whichthe automated exit processing is restarted. Description of FIG. 15 isperformed on the premise that the stop area 310 of the getting-on/offarea 320 is congested as in FIG. 6, but illustration of other vehicleswhich are stopped at the stop area 310 will be omitted forsimplification. For example, when the user has performed a specificoperation at a time T, the automated exit processing is in the stoppedstate. If the driver gets on the host vehicle M at a time T+1, the hostvehicle M restarts the automated exit processing after a predeterminedtime since the driver has gotten on the host vehicle. That is, the hostvehicle M starts traveling toward the getting-on/off area 320.

At a time T+2, the driver operates the brake pedal 86 and causes thehost vehicle M to stop at the stop area 310. Thereafter, the overridecontroller 146 causes the operation of the driver to be reflected incontrol of the target devices. As a result, the driver can operate theaccelerator pedal 82 or the steering wheel 84 in addition to theoperation on the brake pedal 86 to cause the host vehicle M to travel,as at a time T+3. That is, an override is executed.

According to the fourth embodiment described above, the automateddriving control device 100 does not cause an operation performed on theaccelerator pedal 82 or the steering wheel 84 to be reflected in thecontrol of the host vehicle M after the automated exit processing isrestarted. The automated driving control device 100 causes the operationperformed on the accelerator pedal 82 or the steering wheel 84 to bereflected in the control of the host vehicle M after the host vehicle Mhas stopped on the basis of the operation performed on the brake pedal86 at the stop area 310 or after the operation on the brake pedal 86 isperformed while the host vehicle M is stopped at the stop area 310. As aresult, it is possible to realize the behavior of the vehicle inaccordance with the action of the user.

The first embodiment to fourth embodiment described above may bearbitrarily combined and performed.

[Hardware Configuration]

FIG. 16 is a diagram which shows an example of a hardware configurationof the automated driving control device 100 of the embodiments. As shownin FIG. 16, the automated driving control device 100 is configured toinclude a communication controller 100-1, a CPU 100-2, a random accessmemory (RAM) 100-3 used as a working memory, a read only memory (ROM)100-4 that stores a booting program and the like, a storage device 100-5such as a flash memory or a hard disk drive (HDD), a drive device 100-6,and the like being connected to one another by an internal bus or adedicated communication line. The communication controller 100-1communicates with components other than the automated driving controldevice 100. The storage device 100-5 stores a program 100-5 a executedby the CPU 100-2. This program is expanded in the RAM 100-3 by a directmemory access (DMA) controller (not shown) or the like and executed bythe CPU 100-2. As a result, some or all of the first controller 120, thesecond controller 160, and the information processor 170 are realized.

The embodiments described above can be expressed as follows.

A vehicle control device is configured to include a storage device inwhich a program is stored, and a hardware processor, to detect aspecific operation performed on a vehicle from outside the vehicle, tocontrol steering and acceleration or deceleration of the vehicle on thebasis of the recognized vicinity situation, and to bring the vehicleinto a stopped state when the specific operation is detected by thedetector before the vehicle arrives at a boarding area in automated exitprocessing, the boarding area being area in which a user of the vehicleis allowed to get on the vehicle, the automated exit processing beingprocess in which the vehicle is caused to exit from a parking lot andallowing the user to get on the vehicle in the boarding area.

As described above, the forms for implementing the present inventionhave been described using the embodiments. However, the presentinvention is not limited to such embodiments, and various modificationsand substitutions may be added in a range not departing from the gist ofthe present invention.

What is claimed is:
 1. A vehicle control device comprising: a detectorconfigured to detect a specific operation performed on a vehicle from anoutside of the vehicle; a vicinity situation recognizer configured torecognize a vicinity situation of the vehicle; and a driving controllerconfigured to control steering, and acceleration or deceleration of thevehicle on the basis of the vicinity situation recognized by thevicinity situation recognizer, wherein, when the specific operation isdetected by the detector before the vehicle arrives at a boarding areain automated exit processing, the driving controller is configured tobring the vehicle into a stopped state, the boarding area being area inwhich a user of the vehicle is allowed to get on the vehicle, theautomated exit processing being process in which the vehicle is causedto exit from a parking lot and allowing the user to get on the vehiclein the boarding area.
 2. The vehicle control device according to claim1, wherein, when the specific operation is detected by the detector, thedriving controller is configured to bring the automated exit processinginto the stopped state.
 3. The vehicle control device according to claim1, wherein the specific operation is an operation of opening a door ofthe vehicle or an operation of unlocking a door lock of the dooraccompanied by contact of the user to the door of the vehicle.
 4. Thevehicle control device according to claim 1, wherein, even when thevicinity situation recognizer is configured to recognize that the userhas performed a gesture to cause the vehicle to stop in an area beforearriving at the boarding area, the driving controller is configured tobring the vehicle into the stopped state.
 5. The vehicle control deviceaccording to claim 1, further comprising: an acquirer configured toacquire a restart signal for causing traveling of the vehicle to restartfrom a terminal device held by the user, wherein the detector isconfigured to detect that the user has got on the vehicle, and thedriving controller is configured to cause traveling of the vehicle torestart when the acquirer acquires the restart signal after the detectordoes not detect that the user has got on the vehicle any longer in astopped state of the vehicle.
 6. The vehicle control device according toclaim 1, further comprising: a boarding determiner configured todetermine whether a driver or a user different from the driver has goton the vehicle, wherein the detector is configured to detect an open orclosed state of a door of the vehicle, and the driving controller isconfigured to maintain a stopped state of the vehicle even after thedetector detects that the door of the vehicle has been closed when theboarding determiner determines that the user different from the driverhas got on the vehicle in the stopped state of the vehicle.
 7. Thevehicle control device according to claim 1, further comprising: aboarding determiner configured to determine whether a driver has got onthe vehicle, wherein the detector is configured to detect an open orclosed state of a door of the vehicle, and the driving controller isconfigured to cause traveling of the vehicle to restart when theboarding determiner determines that the driver has got on the vehicleand the detector detects that the door of the vehicle is closed.
 8. Thevehicle control device according to claim 7, further comprising: a firstoperator that is an accelerator pedal, a steering wheel, or a brakepedal; and a controller configured to control the vehicle on the basisof an operation performed on the first operator, wherein the controlleris configured to not cause the operation performed on the first operatorto be reflected in the control of the vehicle after the traveling of thevehicle is restarted.
 9. The vehicle control device according to claim8, further comprising: a first operator that is an accelerator pedal ora steering wheel; a second operator that is a brake pedal; and acontroller configured to control the vehicle on the basis of anoperation performed on the first operator or a second operator, whereinthe controller is configured to cause the operation performed on thefirst operator to be reflected in the control of the vehicle after thevehicle has stopped on the basis of an operation performed on the secondoperator in the boarding area or after an operation is performed on thesecond operator while the vehicle is stopped in the boarding area. 10.The vehicle control device according to claim 1, wherein the drivingcontroller is configured to bring the automated exit processing into acompleted state when the detector detects the specific operation afterthe vehicle has entered the boarding area in the automated exitprocessing.
 11. The vehicle control device according to claim 10,wherein the driving controller is configured to not cause the automatedexit processing to restart when a request for automated exit processingis acquired after the automated exit processing is brought into thecompleted state, and is configured to cause the automated exitprocessing to restart when the request for the automated exit processingis acquired after a request for automated entrance processing forcausing the vehicle to enter a parking lot after the automated exitprocessing is brought into the completed state.
 12. A vehicle controlmethod comprising: by a computer, detecting a specific operationperformed on a vehicle from outside the vehicle; recognizing a vicinitysituation of the vehicle; controlling steering and acceleration ordeceleration of the vehicle on the basis of the recognized vicinitysituation; and bringing the vehicle into a stopped state when thespecific operation is detected before the vehicle arrives at a boardingarea in automated exit processing, the boarding area being area in whicha user of the vehicle is allowed to get on the vehicle, the automatedexit processing being process in which the vehicle is caused to exitfrom a parking lot and allowing the user to get on the vehicle in theboarding area.
 13. A non-transitory computer-readable storage mediumthat stores a computer program to be executed by a computer to performat least: detect a specific operation performed on a vehicle fromoutside the vehicle; recognize a vicinity situation of the vehicle;control steering and acceleration or deceleration of the vehicle on thebasis of the recognized vicinity situation; and bring the vehicle into astopped state when the specific operation is detected before the vehiclearrives at a boarding area in automated exit processing the boardingarea being area in which a user of the vehicle is allowed to get on thevehicle, the automated exit processing being process in which thevehicle is caused to exit from a parking lot and allowing the user toget on the vehicle in the boarding area.